Shuttle changing device and automatic calibration method

Abstract

A shuttle changing device and an automatic calibration method, relating to the technical field of shuttle changing devices. The shuttle changing device comprises: a large rotating arm, which is arranged on a template machine frame; a small rotating arm, which is rotatably arranged at the tail end of the large rotating arm, the tail end of the small rotating arm being provided with a lower mechanism; a detection mechanism, which is used for detecting the rotation positions of the large rotating arm and the small rotating arm; and a control system, which is connected to the shuttle changing mechanism and the detection mechanism. The shuttle changing device solves the technical problem that when a template machine frame deforms during movement or transportation, the position of a shuttle changing device mounted on the template machine frame changes accordingly, resulting in deviations in shuttle picking and placing positions, thereby reducing the shuttle changing success rate or even rendering the device unusable. On the basis of detection signals of a first calibration sensor and a second calibration sensor, the control system controls the shuttle changing mechanism to adjust the positions of the large rotating arm and the small rotating arm, thereby ensuring the absolute positions of the large rotating arm and the small rotating arm, realizing automatic correction of the shuttle changing mechanism, and ensuring the shuttle changing success rate.

Description

A shuttle changing device and an automatic calibration method

[0001] This application claims priority to Chinese Patent Application No. 202411921428.X, filed on December 25, 2024, entitled "A Shuttle Device and Automatic Calibration Method", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of shuttle changing device technology, and in particular to a shuttle changing device and an automatic calibration method. Background Technology

[0003] The automatic shuttle changer is an automation component used in template machines. Its main function is to automatically change the shuttle housing components in the template machine, thereby improving production efficiency, reducing labor costs, and ensuring the reliability and stability of the production line.

[0004] Currently, due to space constraints, automatic shuttle changers can only be installed on the template machine frame. The template machine frame is susceptible to deformation during movement or transportation. When the frame deforms, the position of the shuttle changer, which was pre-calibrated at the factory, changes, leading to deviations in the shuttle gripping and releasing positions. This reduces the success rate of shuttle changes or even renders the device unusable. Therefore, this paper proposes a shuttle changer and an automatic calibration method to address these issues. Summary of the Invention

[0005] The purpose of this invention is to provide a shuttle changing device that solves the technical problem that when the template machine frame is deformed during movement or transportation, the position of the shuttle changing device installed on the template machine frame changes accordingly, resulting in deviations in the shuttle gripping and releasing positions, which reduces the success rate of shuttle changing or even renders the device unusable.

[0006] To achieve the above objectives, the present invention provides a shuttle changing device and an automatic calibration method, comprising:

[0007] Template machine frame;

[0008] The shuttle mechanism includes:

[0009] A large rotating arm is mounted on the frame of the template machine;

[0010] A small rotating arm is rotatably disposed at the end of the large rotating arm, and a lower section mechanism is provided at the end of the small rotating arm. The lower section mechanism is used to grip the shuttle housing assembly.

[0011] The detection mechanism, located on the template machine frame, is used to detect the rotational position of the large rotating arm and the small rotating arm;

[0012] The control system connects the shuttle mechanism and the detection mechanism.

[0013] Preferably, the testing mechanism includes:

[0014] A mounting base is provided on the frame of the template machine, and a first mounting block and a second mounting block are provided on one side of the mounting base;

[0015] The first calibration sensor, threadedly connected to the first mounting block, is used to detect the rotational position of the large swing arm.

[0016] The second calibration sensor, threadedly connected to the second mounting block, is used to detect the rotational position of the small rotating arm.

[0017] Preferably, an assembly plate is integrally provided on the side of the upper end of the mounting base, and a first adjusting bolt and a second adjusting bolt are provided on the assembly plate. One end of the first adjusting bolt abuts against the first mounting block, and one end of the second adjusting bolt abuts against the second mounting block.

[0018] Preferably, both the first mounting block and the second mounting block are provided with a plurality of strip holes, and the locking bolt passes through the strip holes to connect to the mounting base.

[0019] Preferably, the mounting base is provided with a waist-shaped groove for passing through the first calibration sensor and the second calibration sensor.

[0020] Preferably, a first drive assembly is provided on the template machine frame, the first drive assembly comprising:

[0021] The first drive motor is mounted on the frame of the template machine;

[0022] A rotating shaft is rotatably connected to the template machine frame. A bushing is sleeved on the first end of the rotating shaft, and the large rotating arm is sleeved on the outer side wall of the bushing. A worm gear is provided on the second end of the rotating shaft.

[0023] The worm has a first end connected to the output end of the first drive motor and a second end engaged with the worm wheel.

[0024] Preferably, a second drive assembly is provided on the template machine frame, the second drive assembly comprising:

[0025] An assembly block is rotatably fitted onto the outer peripheral side of the bushing, and the assembly block is used to drive the bushing to move along the axial direction of the rotating shaft;

[0026] The second drive motor is mounted on the frame of the template machine;

[0027] The first pulley is rotatably connected to the template machine frame;

[0028] The second pulley is connected to the output end of the second drive motor;

[0029] A transmission belt is fitted onto the first pulley and the second pulley, and the bottom end of the transmission belt is fixedly connected to the assembly block.

[0030] Accordingly, the present invention also provides an automatic calibration method for a shuttle changing device, applied to a shuttle changing device as described in any of the above claims, the automatic calibration method comprising:

[0031] S1: The control system starts the shuttle changing mechanism and the detection mechanism. The shuttle changing mechanism drives the lower section mechanism to move to the working position and moves a certain distance towards the shuttle housing assembly closer to the working position.

[0032] S2: The control system confirms whether the detection mechanism has issued a signal indicating that the large swing arm has been detected;

[0033] If there is no signal, the large rotating arm will be driven to rotate counterclockwise until the detection mechanism sends a signal that the large rotating arm has been detected, and then the rotation of the large rotating arm will be stopped.

[0034] If there is a signal, drive the large rotating arm to rotate clockwise until the detection mechanism no longer sends a signal that the large rotating arm has been detected. Then drive the large rotating arm to rotate counterclockwise until the detection mechanism sends a signal that the large rotating arm has been detected. Stop driving the large rotating arm to rotate, and complete the rotation position calibration of the large rotating arm.

[0035] S3: The control system confirms whether the detection mechanism has issued a signal indicating that the small swing arm has been detected;

[0036] If there is no signal, the small rotating arm will be driven to rotate counterclockwise until the detection mechanism sends a signal that the small rotating arm has been detected, and then the rotation of the small rotating arm will be stopped.

[0037] If a signal is received, the small rotating arm is driven to rotate clockwise until the detection mechanism no longer sends a signal indicating that the small rotating arm has been detected. Then, the small rotating arm is driven to rotate counterclockwise until the detection mechanism sends a signal indicating that the small rotating arm has been detected. The rotation of the small rotating arm is then stopped, and the rotation position calibration of the small rotating arm is completed.

[0038] Preferably, before the step of the control system activating the detection mechanism, the method further includes:

[0039] After the machine is powered off and restarted, the control system starts the shuttle changing mechanism, which performs the actions of grabbing and releasing the shuttle to determine whether there is a deviation in the position of the large and small rotating arms.

[0040] If the shuttle changing mechanism can successfully complete the shuttle grabbing and releasing action, the rotation positions of the large rotating arm and the small rotating arm will not deviate, and the template machine can continue to work normally without the need to correct the large rotating arm and the small rotating arm.

[0041] If the shuttle changing mechanism fails to successfully complete the shuttle grabbing and releasing action, the rotation positions of the large rotating arm and the small rotating arm will deviate, and the template machine will not be able to continue to work normally. The large rotating arm and the small rotating arm need to be corrected.

[0042] Preferably, the step of the control system confirming whether the detection mechanism has issued a signal that the small rotating arm has been detected includes: a small rotating arm calibration sensor is provided at the tail end of the small rotating arm, and when the detection mechanism detects the small rotating arm calibration sensor, the detection mechanism issues a signal that the small rotating arm has been detected.

[0043] Compared to the aforementioned background technology, the shuttle-changing device provided by this invention has the following beneficial effects: When the template machine frame deforms, based on the detection signal from the detection mechanism, the control system controls the shuttle-changing mechanism to adjust the positions of the large and small rotating arms relative to the detection mechanism. This ensures that when the lower section of the mechanism is in the working position, the detection mechanism can precisely detect the edge positions of the large and small rotating arms, thereby guaranteeing the absolute positions of the large and small rotating arms and achieving automatic correction of the shuttle-changing mechanism. This allows the shuttle-changing mechanism to accurately complete the shuttle-grabbing and releasing actions, effectively ensuring the success rate of shuttle changing. The automatic calibration method of the shuttle-changing device used in this invention also possesses the above-mentioned beneficial effects. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0045] Figure 1 is a three-dimensional structural diagram of the template machine provided in an embodiment of the present invention;

[0046] Figure 2 is a plan view of the template machine provided in an embodiment of the present invention;

[0047] Figure 3 is an enlarged schematic diagram of point A in Figure 1;

[0048] Figure 4 is an enlarged view of point B in Figure 2;

[0049] Figure 5 is a three-dimensional structural diagram of the detection mechanism provided in an embodiment of the present invention;

[0050] Figure 6 is a three-dimensional structural diagram of the detection mechanism provided in an embodiment of the present invention from another angle.

[0051] Specifically, 1- Template machine frame; 2- Second drive motor; 3- Assembly block; 4- Bushing; 5- First drive motor; 6- Large rotating arm; 7- Third drive motor; 8- Small rotating arm; 9- Mounting base; 901- First mounting block; 902- Second mounting block; 903- Waist-shaped groove; 904- Assembly plate; 10- First calibration sensor; 11- Second calibration sensor; 12- Small rotating arm calibration sensor plate; 13- First adjusting bolt; 14- Second adjusting bolt; 15- Strip hole; 16- Rotating shaft; 17- Worm gear; 18- Worm; 19- Transmission belt; 20- Lower section mechanism; 21- Shuttle housing assembly; 22- Working position; 23- Thread removal position; 24- Spare shuttle position. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] As shown in Figures 1 and 2, in order to achieve the above objectives, the present invention provides a shuttle changing device, including: a template machine frame 1 and a shuttle changing mechanism and a detection mechanism disposed on the template machine frame 1.

[0055] The shuttle changing mechanism includes a large rotating arm 6 mounted on the template machine frame. A small rotating arm 8 is connected to the end of the large rotating arm 6 and can rotate relative to the large rotating arm 6. A lower section mechanism 20 is located at the end of the small rotating arm 8. Specifically, the lower section mechanism 20 includes a gripper cylinder located at the end of the small rotating arm 8. The output end of the gripper cylinder is connected to a gripper, and the gripper cylinder controls the gripper to grasp the shuttle housing assembly 21. Additionally, a detection mechanism is installed on the template machine frame 1 to detect the rotational positions of the large rotating arm 6 and the small rotating arm 8 in real time.

[0056] It should be noted that a control system is installed on the template machine frame 1. The control system is connected to the shuttle changing mechanism and the detection mechanism. When the template machine frame 1 deforms, the control system controls the shuttle changing mechanism to adjust the rotation positions of the large rotating arm 6 and the small rotating arm 8 relative to the detection mechanism according to the detection signal of the detection mechanism. When the lower section mechanism 20 is in the working position 22, the detection mechanism can just detect the edge positions of the large rotating arm 6 and the small rotating arm 8, so as to ensure the absolute position of the large rotating arm 6 and the small rotating arm 8, realize the automatic correction of the shuttle changing mechanism, and effectively ensure the success rate of shuttle changing.

[0057] During use, when the template machine frame 1 deforms, the control system activates the shuttle changing mechanism and the detection mechanism. The shuttle changing mechanism drives the large rotating arm 6 and the small rotating arm 8 to move, causing the lower section mechanism 20 to move to the working position 22 and move a certain distance towards the shuttle housing assembly 21 near the working position 22, ensuring that the shuttle housing assembly 21 is accurately removed from the working position 22 under the action of the large rotating arm 6 and the small rotating arm 8. The control system confirms whether the detection mechanism has detected the large rotating arm 6. If there is no signal, the large rotating arm 6 is driven to rotate counterclockwise until the detection mechanism detects the large rotating arm 6, at which point the rotation of the large rotating arm 6 is stopped. If there is a signal, the large rotating arm 6 is driven to rotate clockwise until the detection mechanism no longer detects the large rotating arm 6. The signal from rotating arm 6 is then used to drive the large rotating arm 6 to rotate counterclockwise until the detection mechanism sends a signal indicating that the large rotating arm 6 has been detected. At this point, the rotation of the large rotating arm 6 is stopped, completing the rotational position calibration of the large rotating arm 6. The control system then checks whether the detection mechanism has sent a signal indicating that the small rotating arm 8 has been detected. If there is no signal, the small rotating arm 8 is driven to rotate counterclockwise until the detection mechanism sends a signal indicating that the small rotating arm 8 has been detected. At this point, the rotation of the small rotating arm 8 is stopped, completing the rotational position calibration of the small rotating arm 8. This ensures the absolute positions of the large rotating arm 6 and the small rotating arm 8, achieving automatic correction of the shuttle changing mechanism, enabling the shuttle changing mechanism to accurately complete the shuttle gripping and releasing actions, and ensuring a high success rate for shuttle changing.

[0058] As shown in Figures 5 and 6, in one embodiment of the present invention, the detection mechanism includes: a mounting base 9 disposed on the template machine frame 1; a first mounting block 901 and a second mounting block 902 disposed on one side of the mounting base 9; wherein, a first threaded hole is provided on the first mounting block 901, and a threaded wire is provided on the left end of a first calibration sensor 10; the first calibration sensor 10 is threadedly connected to the first threaded hole to mount the first calibration sensor 10 on the first mounting block 901, and the first calibration sensor 10 is used to detect the rotation position of the large rotating arm 6; a second threaded hole is provided on the second mounting block 902, and a threaded wire is provided on the left end of a second calibration sensor 11; the second calibration sensor 11 is threadedly connected to the second threaded hole to mount the second calibration sensor 11 on the second mounting block 902, and the second calibration sensor 11 is used to detect the rotation position of the small rotating arm 8.

[0059] It should be noted that after adjusting the position of the shuttle grabbing and changing, the positions of the first calibration sensor 10 and the second calibration sensor 11 are adjusted respectively so that when the lower section mechanism 20 is in the working position 22, the first calibration sensor 10 and the second calibration sensor 11 can just detect the edge positions of the large rotating arm 6 and the small rotating arm 8, so as to fix the positions of the first calibration sensor 10 and the second calibration sensor 11.

[0060] Furthermore, when the lower section mechanism 20 is positioned to grasp the shuttle housing assembly at the working position, the control system controls the lower section mechanism 20 to move a certain distance toward the shuttle housing assembly 21 at the working position 22. Driven by the large rotating arm 6 and the small rotating arm 8, the lower section mechanism 20 accurately removes the shuttle housing assembly 21 at the working position 22. At this time, the first calibration sensor 10 and the second calibration sensor 11 perform position detection on the large rotating arm 6 and the small rotating arm 8 to ensure that after the automatic calibration of the shuttle changing device is completed, the lower section mechanism 20 can accurately grasp the working position, the line-departure position, and the standby position.

[0061] Preferably, after the first calibration sensor 10 and the second calibration sensor 11 are respectively installed on the first mounting block 901 and the second mounting block 902, the left end of the first calibration sensor 10 and the left end of the second calibration sensor 11 are threaded with locking nuts to help fix the first calibration sensor 10 and the second calibration sensor 11, thereby improving the stability of the first calibration sensor 10 and the second calibration sensor 11 connected to the template machine frame 1.

[0062] In one embodiment of the present invention, a plurality of strip holes 15 are provided on both the first mounting block 901 and the second mounting block 902. Locking bolts pass through the strip holes 15 and connect to the mounting base 9. Meanwhile, an assembly plate 904 is integrally provided on the side of the upper end of the mounting base 9. The assembly plate 904 is set perpendicular to the mounting base 9. A first adjusting bolt 13 and a second adjusting bolt 14 are provided on the assembly plate 904. The first adjusting bolt 13 and the second adjusting bolt 14 are both threadedly connected to the assembly plate 904. One end of the first adjusting bolt 13 abuts against the first mounting block 901, and one end of the second adjusting bolt 14 abuts against the second mounting block. 902. When it is necessary to adjust the position of the first mounting block 901 and the second mounting block 902, turn the locking bolt in the opposite direction to allow the first mounting block 901 and the second mounting block 902 to move relative to the mounting base 9. By turning the first adjusting bolt 13 and the second adjusting bolt 14 in both directions, fine-tune the position of the first calibration sensor 10 and the second calibration sensor 11 on the mounting base 9. Then turn the locking bolt in the forward direction to lock the first mounting block 901 and the second mounting block 902 on the mounting base 9 to ensure that the position of the first calibration sensor 10 and the second calibration sensor 11 on the template machine frame 1 remains stable.

[0063] In addition, a waist-shaped groove 903 is provided on the mounting base 9. The waist-shaped groove 903 is used to pass through the first calibration sensor 10 and the second calibration sensor 11. While fixing the first calibration sensor 10 and the second calibration sensor 11, it can ensure that the first calibration sensor 10 and the second calibration sensor 11 can effectively detect the rotation position of the large rotating arm 6 and the small rotating arm 8.

[0064] As shown in Figures 3 and 4, a first drive assembly is installed on the template machine frame 1. The first drive assembly includes a first drive motor 5 mounted on the template machine frame 1, with a worm gear 18 at the output end of the first drive motor 5. Simultaneously, a rotating shaft 16 is rotatably connected to the template machine frame 1. A bushing 4 is fitted onto the right end of the rotating shaft 16, and a large rotating arm 6 is fitted onto the outer wall of the bushing 4. A worm wheel 17 is installed at the left end of the rotating shaft 16, and the right end of the worm gear 18 is meshed with the worm wheel 17. The first drive motor 5 drives the worm gear 18 to rotate, which in turn drives the worm wheel 17 to rotate, causing the rotating shaft 16 to rotate synchronously. This transmission method of the worm wheel 17 and worm gear 18 allows for flexible control of the rotating shaft 16 based on the start and stop of the first drive motor 5, and has a certain self-locking function, meaning that the worm wheel 17 cannot drive the worm gear 18 to rotate in the opposite direction, preventing the rotating shaft 16 from rotating under the influence of the large rotating arm 6.

[0065] A second drive assembly is installed on the template machine frame 1. The second drive assembly includes a second drive motor 2 mounted on the template machine frame 1. Simultaneously, an assembly block 3 is rotatably connected to the outer periphery of a bushing 4. The assembly block 3 drives the bushing 3 to move along the axis of the rotating shaft 16. A first pulley is rotatably connected to the template machine frame 1. The output end of the second drive motor 2 is connected to the second pulley. A transmission belt 19 is provided on both the first and second pulleys. The bottom end of the transmission belt 19 is fixedly connected to the assembly block 3. Specifically, a clamping plate is provided on the top surface of the assembly block 3. The bottom surface of the clamping plate is... An assembly slot is placed, and the assembly slot and assembly block 3 are combined to form an assembly hole. When the clamping plate is fixed to the top surface of the assembly block 3 by four bolts, the lower part of the transmission belt 19 is clamped and fixed in the assembly hole. The second drive motor 2 drives the second pulley to rotate, which in turn drives the transmission belt 19 to rotate. The transmission belt 19 drives the assembly block 3 to move along the direction of the transmission belt 19, that is, the assembly block 3 moves along the axis of the rotating shaft 16, thereby controlling the movement of the large rotating arm 6 to move closer to or away from the working position 22 of the shuttle housing assembly 21, and assisting the lower section mechanism 20 in completing the installation and disassembly of the shuttle housing assembly 21.

[0066] The automatic calibration method for the shuttle changing device adopted in this invention specifically includes the following steps: installing the first calibration sensor 10 and the second calibration sensor 11 on the template machine frame 1, adjusting the position of the shuttle grabbing and changing, and adjusting the positions of the first calibration sensor 10 and the second calibration sensor 11 respectively, so that when the lower section mechanism 20 is in the working position 22, the first calibration sensor 10 and the second calibration sensor 11 can just detect the edge positions of the large rotating arm 6 and the small rotating arm 8, thus completing the determination of the positions of the first calibration sensor 10 and the second calibration sensor 11. When the shuttle changing device needs calibration, the control system activates the detection mechanism. Simultaneously, the first drive motor 5 drives the large rotating arm 6, and the third drive motor 7 drives the small rotating arm 8, moving the lower section mechanism 20 to the working position 22. The second drive motor 2 then drives the transmission belt 19 to rotate, causing the assembly block 3 to move along the axis of the rotating shaft 16. This causes the large rotating arm 6, the small rotating arm 8, and the lower section mechanism 20 to move synchronously a certain distance towards the shuttle housing assembly 21 at the working position 22. The control system checks whether the first calibration sensor 10 has detected the large rotating arm 6. If there is no signal, the first drive motor 5 drives the large rotating arm 6 to rotate counterclockwise until the first calibration sensor 10 detects the large rotating arm 6, at which point the first drive motor 5 stops driving the large rotating arm 6 to rotate. If there is a signal, the first drive motor 5 drives the large rotating arm 6 to rotate clockwise until the first calibration sensor 10 no longer detects the large rotating arm 6. The system then sends a signal to the first calibration sensor 10, which drives the large rotating arm 6 to rotate counterclockwise until the first calibration sensor 10 sends a signal indicating that the large rotating arm 6 has been detected. At this point, the first drive motor 5 stops driving the large rotating arm 6 to rotate, thus completing the rotational position calibration of the large rotating arm 6. The control system then checks whether the second calibration sensor 11 sends a signal indicating that the small rotating arm 8 has been detected. If there is no signal, the third drive motor 7 drives the small rotating arm 8 to rotate counterclockwise until the second calibration sensor 11 sends a signal indicating that the small rotating arm 8 has been detected. At this point, the third drive motor 7 stops driving the small rotating arm 8 to rotate. If there is a signal, the third drive motor 7 drives the small rotating arm 8 to rotate clockwise until the second calibration sensor 11 no longer sends a signal indicating that the small rotating arm 8 has been detected. Then, the third drive motor 7 drives the small rotating arm 8 to rotate counterclockwise until the second calibration sensor 11 sends a signal indicating that the small rotating arm 8 has been detected. At this point, the third drive motor 7 stops driving the small rotating arm 8 to rotate, thus completing the rotational position calibration of the small rotating arm 8.

[0067] After the template machine is shut down and restarted, the control system activates the shuttle changing mechanism. The shuttle changing mechanism performs a shuttle grabbing and releasing action to determine whether there is a deviation between the rotational positions of the large rotating arm 6 and the small rotating arm 8. When the shuttle changing mechanism performs the shuttle grabbing and releasing action, the lower section mechanism 20 is at the lower rotation origin position. The first drive motor 5 drives the large rotating arm 6 to move, while the third drive motor 7 drives the small rotating arm 8 to move. This causes the lower section mechanism 20 to grab the shuttle case assembly 21 at the working position 22 and place it at the thread-departing position 23. Then, it grabs the shuttle case assembly 21 at the spare shuttle position 24 and places it at the working position 22. If the shuttle changing mechanism can successfully complete the shuttle grabbing and releasing action, the positions of the large rotating arm 6 and the small rotating arm 8 are not deviated, and the template machine can continue to work normally without needing to correct the large rotating arm 6 and the small rotating arm 8. If the shuttle changing mechanism cannot successfully complete the shuttle grabbing and releasing action, the rotational positions of the large rotating arm 6 and the small rotating arm 8 are deviated, and the template machine cannot continue to work normally, requiring correction of the large rotating arm 6 and the small rotating arm 8. After each shutdown and restart of the template machine, the shuttle-grabbing and releasing actions are performed through the shuttle-changing mechanism. In other words, the shuttle-changing mechanism is tested before the equipment starts working, which effectively ensures that the template machine can accurately complete the shuttle changing when it is working, avoids the phenomenon of stopping midway, and improves the working efficiency of the template machine.

[0068] It should be further explained that, since the small rotating arm 8 is not detected by the second calibration sensor 11, a small rotating arm calibration sensor 12 is set at the tail end of the small rotating arm 8. The small rotating arm calibration sensor 12 has a certain positional relationship with the small rotating arm 8. Specifically, the position of the small rotating arm calibration sensor 12 is detected by the second calibration sensor 11, and the rotation position of the large rotating arm 6 is further calculated by the control system. When the second calibration sensor 11 detects the small rotating arm calibration sensor 12, the second calibration sensor 11 sends a signal that the small rotating arm 8 has been detected. This allows the first calibration sensor 10 and the second calibration sensor 11 to be installed together on the same mounting base 9, reducing the use of space on the template machine frame 1. Moreover, installing the first calibration sensor 10 and the second calibration sensor 11 together on the same mounting base 9 facilitates the debugging of the first calibration sensor 10 and the second calibration sensor 11.

[0069] In summary, based on the detection signals from the first calibration sensor 10 and the second calibration sensor 11, the control system controls the shuttle mechanism to adjust the positions of the large rotating arm 6 and the small rotating arm 8 so that when the lower section mechanism 20 is in the working position 22, the first calibration sensor 10 and the second calibration sensor 11 can just detect the edge positions of the large rotating arm 6 and the small rotating arm 8, ensuring the absolute positions of the large rotating arm 6 and the small rotating arm 8, realizing the automatic correction of the shuttle mechanism, and ensuring the success rate of shuttle changing.

[0070] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0071] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A shuttle changing device, characterized in that, include: Template machine frame; The shuttle mechanism includes: A large rotating arm is mounted on the frame of the template machine; A small rotating arm is rotatably disposed at the end of the large rotating arm, and a lower section mechanism is provided at the end of the small rotating arm. The lower section mechanism is used to grip the shuttle housing assembly. The detection mechanism, located on the template machine frame, is used to detect the rotational position of the large rotating arm and the small rotating arm; The control system connects the shuttle mechanism and the detection mechanism.

2. The shuttle changing device according to claim 1, characterized in that, The testing institutions include: A mounting base is provided on the frame of the template machine, and a first mounting block and a second mounting block are provided on one side of the mounting base; The first calibration sensor, threadedly connected to the first mounting block, is used to detect the rotational position of the large swing arm. The second calibration sensor, threadedly connected to the second mounting block, is used to detect the rotational position of the small rotating arm.

3. A shuttle-changing device according to claim 2, characterized in that, An assembly plate is integrally provided on the side of the upper end of the mounting base. A first adjusting bolt and a second adjusting bolt are provided on the assembly plate. One end of the first adjusting bolt abuts against the first mounting block, and one end of the second adjusting bolt abuts against the second mounting block.

4. A shuttle changing device according to claim 3, characterized in that, Both the first mounting block and the second mounting block are provided with a number of strip holes, and the locking bolts pass through the strip holes to connect to the mounting base.

5. A shuttle changing device according to claim 2, characterized in that, The mounting base is provided with a waist-shaped groove, which is used to pass through the first calibration sensor and the second calibration sensor.

6. A shuttle changing device according to any one of claims 1-5, characterized in that, A first drive assembly is provided on the template machine frame, the first drive assembly comprising: The first drive motor is mounted on the frame of the template machine; A rotating shaft is rotatably connected to the template machine frame. The first end of the rotating shaft is fitted with a bushing, the outer side wall of the bushing is fitted with the large rotating arm, and the second end of the rotating shaft is fitted with a worm gear. The worm has a first end connected to the output end of the first drive motor and a second end engaged with the worm wheel.

7. A shuttle changing device according to claim 6, characterized in that, A second drive assembly is provided on the template machine frame, the second drive assembly comprising: An assembly block is rotatably fitted onto the outer peripheral side of the bushing, and the assembly block is used to drive the bushing to move along the axial direction of the rotating shaft; The second drive motor is mounted on the frame of the template machine; The first pulley is rotatably connected to the template machine frame; The second pulley is connected to the output end of the second drive motor; A transmission belt is fitted onto the first pulley and the second pulley, and the bottom end of the transmission belt is fixedly connected to the assembly block.

8. An automatic calibration method for a shuttle changing device, applied to the shuttle changing device according to any one of claims 1-7, characterized in that, The automatic calibration method includes: S1: The control system starts the shuttle changing mechanism and the detection mechanism. The shuttle changing mechanism drives the lower section mechanism to move to the working position and moves a certain distance towards the shuttle housing assembly closer to the working position. S2: The control system confirms whether the detection mechanism has issued a signal indicating that the large swing arm has been detected; If there is no signal, the large rotating arm will be driven to rotate counterclockwise until the detection mechanism sends a signal that the large rotating arm has been detected, and then the rotation of the large rotating arm will be stopped. If there is a signal, drive the large rotating arm to rotate clockwise until the detection mechanism no longer sends a signal that the large rotating arm has been detected. Then drive the large rotating arm to rotate counterclockwise until the detection mechanism sends a signal that the large rotating arm has been detected. Stop driving the large rotating arm to rotate, and complete the rotation position calibration of the large rotating arm. S3: The control system confirms whether the detection mechanism has issued a signal indicating that the small swing arm has been detected; If there is no signal, the small rotating arm will be driven to rotate counterclockwise until the detection mechanism sends a signal that the small rotating arm has been detected, and then the rotation of the small rotating arm will be stopped. If a signal is received, the small rotating arm is driven to rotate clockwise until the detection mechanism no longer sends a signal indicating that the small rotating arm has been detected. Then, the small rotating arm is driven to rotate counterclockwise until the detection mechanism sends a signal indicating that the small rotating arm has been detected. The rotation of the small rotating arm is then stopped, and the rotation position calibration of the small rotating arm is completed.

9. An automatic calibration method for a shuttle changing device according to claim 8, characterized in that, Before the step of the control system activating the detection mechanism, the following is also included: After the machine is powered off and restarted, the control system starts the shuttle changing mechanism, which performs the actions of grabbing and releasing the shuttle to determine whether there is a deviation in the position of the large and small rotating arms. If the shuttle changing mechanism can successfully complete the shuttle grabbing and releasing action, the rotation positions of the large rotating arm and the small rotating arm will not deviate, and the template machine can continue to work normally without the need to correct the large rotating arm and the small rotating arm. If the shuttle changing mechanism fails to successfully complete the shuttle grabbing and releasing action, the rotation positions of the large rotating arm and the small rotating arm will deviate, and the template machine will not be able to continue to work normally. The large rotating arm and the small rotating arm need to be corrected.

10. An automatic calibration method for a shuttle changing device according to claim 8, characterized in that, The step of the control system to confirm whether the detection mechanism has issued a signal that the small rotating arm has been detected includes: a small rotating arm calibration sensor is provided at the tail end of the small rotating arm, and when the detection mechanism detects the small rotating arm calibration sensor, the detection mechanism issues a signal that the small rotating arm has been detected.

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